
\begin{table}
\caption{Mesh refinement statistics: Predator-prey example}
\label{mesh_stats_predator}
\renewcommand{\tabcolsep}{0.15cm}
\tiny
\begin{tabular}{llllllllllll}
Iter&DM&M&NV&NC&OE&CE&JE&HE&RHS&$\epsilon_{\max}$&CPU$_\mathrm{a}$ \\ \hline \\
1&TRP&20&46&43&20&20&20&0&780&1.615e-02&4.000e-02\\
2&TRP&28&62&59&14&14&14&0&770&8.919e-03&4.000e-02\\
3&H-S&39&84&81&9&9&9&0&1035&1.670e-03&4.000e-02\\
4&H-S&54&114&111&11&11&11&0&1760&1.114e-04&5.000e-02\\
5&H-S&62&130&127&10&10&10&0&1840&3.985e-05&5.000e-02\\
\hline
CPU$_\mathrm{b}$ &-&-&-&-&-&-&-&-&-&-&4.500e-01\\
-&-&-&-&-&64&64&64&0&6185&-&6.700e-01\\
\end{tabular}
\newline \\ \emph{Key}: Iter=iteration number, DM= discretization method, M=number of nodes, NV=number of variables, NC=number of constraints, OE=objective evaluations,  	              CE = constraint evaluations, JE = Jacobian evaluations, HE = Hessian evaluations, RHS = ODE right hand side 		      evaluations, $\epsilon_{\max}$ = maximum relative ODE error, CPU$_\mathrm{a}$ = CPU time in seconds spent by NLP algorithm, 		      CPU$_\mathrm{b}$ = additional CPU time in seconds spent by PSOPT
\normalsize
\end{table}